CN111432468A - AOA (automatic optic inspection) Bluetooth positioning base station self-calibration method and system - Google Patents
AOA (automatic optic inspection) Bluetooth positioning base station self-calibration method and system Download PDFInfo
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- CN111432468A CN111432468A CN202010235785.6A CN202010235785A CN111432468A CN 111432468 A CN111432468 A CN 111432468A CN 202010235785 A CN202010235785 A CN 202010235785A CN 111432468 A CN111432468 A CN 111432468A
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W64/00—Locating users or terminals or network equipment for network management purposes, e.g. mobility management
- H04W64/003—Locating users or terminals or network equipment for network management purposes, e.g. mobility management locating network equipment
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/30—Services specially adapted for particular environments, situations or purposes
- H04W4/33—Services specially adapted for particular environments, situations or purposes for indoor environments, e.g. buildings
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/80—Services using short range communication, e.g. near-field communication [NFC], radio-frequency identification [RFID] or low energy communication
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W64/00—Locating users or terminals or network equipment for network management purposes, e.g. mobility management
- H04W64/006—Locating users or terminals or network equipment for network management purposes, e.g. mobility management with additional information processing, e.g. for direction or speed determination
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Abstract
The invention discloses a self-calibration method and a system for an AOA Bluetooth positioning base station, wherein the method comprises the following steps: each AOA Bluetooth positioning base station measures a pitch angle and an azimuth angle of the AOA Bluetooth positioning base station relative to a positioning tag in real time and sends the pitch angle and the azimuth angle to a position server, wherein the AOA Bluetooth positioning base station comprises a reference AOA Bluetooth positioning base station and an AOA Bluetooth positioning base station to be measured; the position server determines the azimuth angle of each AOA Bluetooth positioning base station to be detected based on the pitch angle and azimuth angle information sent by the AOA Bluetooth positioning base station; the position server determines the position coordinates of each AOA Bluetooth positioning base station to be detected; and each AOA Bluetooth positioning base station to be measured is adjusted based on the position coordinate and the azimuth angle. The invention can effectively reduce the base station layout difficulty and cost, improve the layout efficiency, and ensure that the overall operation cost of the indoor positioning system is lower and the maintenance is more convenient.
Description
Technical Field
The application relates to the technical field of Bluetooth indoor positioning, in particular to a self-calibration method and a self-calibration system for an AOA Bluetooth positioning base station.
Background
In recent years, the location Services (L position Based Services, L BS) industry has been rapidly developed, and high-precision location information is the basis for providing high-quality location Services.
In order to solve the positioning problem in indoor environment, many indoor positioning technologies, such as base station positioning, wireless local area network (Wi-Fi) positioning, etc., have appeared in recent years. Research on indoor positioning related theoretical methods has become one of the hot problems in the field of positioning navigation. Numerous scholars have conducted extensive research on indoor positioning technologies, such as base station positioning, Wi-Fi positioning, Radio Frequency Identification (RFID) positioning, Bluetooth (Bluetooth) positioning, Ultra-Wideband (UWB) positioning, assisted GPS based mobile communication networks, ZigBee positioning, geomagnetic positioning, terrestrial digital communication and broadcast signal positioning, pseudolite positioning, computer vision positioning, visible light positioning, and the like.
In the existing positioning scheme, the Bluetooth positioning and the ultra-wideband positioning have better performance in indoor positioning precision and real-time application, the development is rapid in recent years, wherein the Bluetooth positioning technology based on the AOA algorithm has excellent performance in positioning precision and power consumption, but the angle measurement base station is more complicated to lay, and because of engineering installation precision and position measurement errors, the final measured angle and the actual angle have larger difference, the accurate installation position angle of the base station can be obtained by adopting manual calibration, the accurate value of the angle measurement is greatly improved, but the manual calibration is time-consuming and labor-consuming, and the engineering needs to be laid again after the engineering is changed.
Disclosure of Invention
In view of the above problems, the present invention provides a self-calibration method and system for an AOA bluetooth positioning base station, which can effectively reduce the difficulty and cost of base station layout, improve the layout efficiency, and make the overall operation cost of an indoor positioning system lower and the maintenance more convenient.
In order to solve the above problems, the present invention provides a self-calibration method for an AOA bluetooth positioning base station, comprising the following steps: each AOA Bluetooth positioning base station measures a pitch angle and an azimuth angle of the AOA Bluetooth positioning base station relative to a positioning tag in real time and sends the pitch angle and the azimuth angle to a position server, wherein the AOA Bluetooth positioning base station comprises a reference AOA Bluetooth positioning base station and an AOA Bluetooth positioning base station to be measured; the position server determines the azimuth angle of each AOA Bluetooth positioning base station to be detected based on the pitch angle and azimuth angle information sent by the AOA Bluetooth positioning base station; the position server determines the position coordinates of each AOA Bluetooth positioning base station to be detected; and each AOA Bluetooth positioning base station to be measured is adjusted based on the position coordinate and the azimuth angle.
Preferably, the step of measuring the pitch angle and the azimuth angle of each AOA bluetooth positioning base station relative to the positioning tag in real time comprises the following steps: enabling a positioning tag to move along a preset path, and enabling the positioning tag to send positioning data packets to all the AOA Bluetooth positioning base stations in real time; and each AOA Bluetooth positioning base station measures and calculates the pitch angle and the azimuth angle of the AOA Bluetooth positioning base station relative to the positioning tag in real time based on the positioning data packet.
Preferably, the positioning tag sends a positioning data packet to each AOA bluetooth positioning base station in real time in a connection communication or broadcast communication manner.
Preferably, the determining, by the location server, the azimuth angle of each to-be-measured AOA bluetooth positioning base station based on the pitch angle and azimuth angle information sent by the AOA bluetooth positioning base station specifically includes: if the projection of the AOA Bluetooth positioning base station to be detected is not in the preset path, when the pitch angle of the AOA Bluetooth positioning base station is maximum, the azimuth angle of the AOA Bluetooth positioning base station to be detected and the negative direction of the azimuth angle of the AOA Bluetooth positioning base station have a complementary relation; and if the projection of the AOA Bluetooth positioning base station to be detected is on the preset path, and if the pitch angle of the AOA Bluetooth positioning base station to be detected is about 90 degrees, the azimuth angle of the AOA Bluetooth positioning base station to be detected is the direction angle of the preset path.
Preferably, the step of the location server determining the location coordinates of each AOA bluetooth positioning base station to be tested includes the following steps: each AOA Bluetooth positioning base station measures the distance between the AOA Bluetooth positioning base station and other AOA Bluetooth positioning base stations based on a TOF algorithm; taking any one AOA Bluetooth positioning base station as a reference base station, establishing a plane coordinate system by using the reference base station and the AOA Bluetooth positioning base station closest to the reference base station, and determining the position coordinate of each AOA Bluetooth positioning base station on the plane coordinate system; and converting the position coordinates of each AOA Bluetooth positioning base station into an actual coordinate system.
Preferably, each said AOA bluetooth positioning base station measuring its distance from other AOA bluetooth positioning base stations based on TOF algorithm includes the following steps: setting each AOA Bluetooth positioning base station into a TOF ranging mode; each AOA Bluetooth positioning base station randomly serves as a master machine or a slave machine, and the AOA Bluetooth positioning base station serving as the master machine initiates a measurement data packet and measures the distance between the AOA Bluetooth positioning base station and each slave machine; after entering the next period, randomly entering a master machine or slave machine mode by each AOA Bluetooth positioning base station, initiating a measurement data packet by the AOA Bluetooth positioning base station serving as the master machine, and measuring the distance from the AOA Bluetooth positioning base station to each slave machine until the distance measurement between all AOA Bluetooth positioning base stations is completed; and sending the distance information between all the AOA Bluetooth positioning base stations to the position server.
The invention also provides a self-calibration system of the AOA Bluetooth positioning base station, which comprises a plurality of AOA Bluetooth positioning base stations, one or a plurality of positioning labels and a position server, wherein each AOA Bluetooth positioning base station measures the pitch angle and the azimuth angle of the corresponding positioning label in real time and sends the pitch angle and the azimuth angle to the position server, and the AOA Bluetooth positioning base station comprises a reference AOA Bluetooth positioning base station and an AOA Bluetooth positioning base station to be measured; the position server determines the azimuth angle of each AOA Bluetooth positioning base station to be detected based on the pitch angle and the azimuth angle of each AOA Bluetooth positioning base station relative to the positioning label; the position server determines the position coordinates of each AOA Bluetooth positioning base station to be detected; and each AOA Bluetooth positioning base station to be measured is adjusted based on the position coordinate and the azimuth angle.
Preferably, all said AOA bluetooth positioning base stations are installed on the same horizontal plane.
Compared with the prior art, the invention has the following technical effects:
the AOA Bluetooth positioning base station self-calibration method and the system provided by the embodiment of the invention can effectively reduce the base station layout difficulty and cost, improve the layout efficiency, and ensure that the overall operation cost of an indoor positioning system is lower and the maintenance is more convenient.
Of course, it is not necessary for any product in which the invention is practiced to achieve all of the above-described advantages at the same time.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts. In the drawings:
FIG. 1 is a schematic structural diagram of an AOA Bluetooth positioning base station self-calibration system according to an embodiment of the present invention;
FIG. 2 is a flow chart of a self-calibration method for an AOA Bluetooth positioning base station according to an embodiment of the present invention;
FIG. 3 is a schematic diagram illustrating an example of an azimuth determination method for an AOA Bluetooth positioning base station according to an embodiment of the present invention;
fig. 4 is a schematic diagram of an example of determining the position coordinates of an AOA bluetooth positioning base station according to an embodiment of the present invention.
Detailed Description
The self-calibration method and system for the AOA bluetooth positioning base station according to the present invention will be described in detail with reference to the accompanying drawings, which are implemented on the premise of the technical solution of the present invention, and a detailed implementation manner and a specific operation process are provided, but the scope of the present invention is not limited to the following embodiments, and those skilled in the art can modify and revise the method and system without changing the spirit and content of the present invention.
Referring to fig. 1, a self-calibration system for an AOA bluetooth positioning base station includes a plurality of AOA bluetooth positioning base stations 1, one or more positioning tags 2, and a location server 3, wherein each AOA bluetooth positioning base station 1 measures a pitch angle and an azimuth angle of the AOA bluetooth positioning base station relative to the positioning tag 2 in real time and sends the measured pitch angle and azimuth angle to the location server 3, and the plurality of AOA bluetooth positioning base stations 1 include a reference AOA bluetooth positioning base station and an AOA bluetooth positioning base station to be measured; the position server 3 determines the azimuth angle of each AOA Bluetooth positioning base station 1 to be detected based on the pitch angle and the azimuth angle of each AOA Bluetooth positioning base station 1 relative to the positioning tag 2; the position server 3 determines the position coordinates of each AOA Bluetooth positioning base station 1 to be detected; and each AOA Bluetooth positioning base station 1 to be measured is adjusted based on the position coordinates and the azimuth angle.
In this embodiment, all AOA bluetooth positioning base stations 1 are all installed on the same horizontal plane.
The AOA Bluetooth positioning base station self-calibration system is based on a Bluetooth communication technology, the AOA Bluetooth positioning base station 1 adopts an AOA angle measurement algorithm, the signal incoming wave direction of a positioning label 2 can be accurately obtained, TOF ranging is carried out between base stations according to the self-calibration requirement of more than two AOA Bluetooth positioning base stations by combining the principle of a radar TOF ranging algorithm in the engineering laying calibration stage, the relative positions of the base stations are obtained by taking three base stations as the minimum unit, and the position coordinates of all the base stations can be obtained by compensating the initial position.
Specifically, the AOA bluetooth positioning base station self-calibration system performs AOA bluetooth positioning base station self-calibration according to the following method, please refer to fig. 2, and includes the following steps:
s1: each AOA Bluetooth positioning base station 1 measures a pitch angle and an azimuth angle of the corresponding positioning label in real time and sends the pitch angle and the azimuth angle to a position server 3, wherein the AOA Bluetooth positioning base stations 1 comprise a reference AOA Bluetooth positioning base station and an AOA Bluetooth positioning base station to be detected;
s2: the position server 3 determines the azimuth angle of each AOA Bluetooth positioning base station to be detected based on the pitch angle and the azimuth angle of each AOA Bluetooth positioning base station 1 relative to the positioning label;
s3: the position server 3 determines the position coordinates of each AOA Bluetooth positioning base station to be detected;
s4: and each AOA Bluetooth positioning base station to be measured is adjusted based on the position coordinate and the azimuth angle.
In step S1, the step of measuring the pitch angle and the azimuth angle of each AOA bluetooth positioning base station 1 relative to the positioning tag in real time specifically includes the following steps:
s11: enabling a positioning tag 2 to move along a preset path, and enabling the positioning tag 2 to send positioning data packets to all the AOA Bluetooth positioning base stations 1 in real time;
s12: and each AOA Bluetooth positioning base station 1 measures and calculates the pitch angle and the azimuth angle of the positioning base station relative to the positioning tag 2 in real time based on the positioning data packet, namely the pitch angle and the azimuth angle of the positioning data packet reaching the AOA Bluetooth positioning base station 1.
Specifically, after the preparation of the AOA bluetooth positioning base station 1 is completed, the AOA bluetooth positioning base station 1 is in the AOA angle measurement mode, the AOA bluetooth positioning base station 1 measures and calculates the pitch angle and the azimuth angle of the positioning data packet reaching the AOA bluetooth positioning base station 1 in real time, and stores and uploads the pitch angle and azimuth angle information to the position server 3.
Here, the positioning tag 2 sends the positioning data packet to each AOA bluetooth positioning base station 1 in real time, and uses connection communication or broadcast communication, preferably broadcast communication, and may arbitrarily select a matched whitening sequence, and simultaneously or in a short time, communicate with a plurality of AOA bluetooth positioning base stations 1 to perform positioning.
The method for determining the azimuth angle of the AOA bluetooth positioning base station 1 is described as a specific example. The AOA Bluetooth positioning base station self-calibration system is located inside a room and comprises 4 AOA Bluetooth positioning base stations (number A, B, C, D) arranged at the top of the room, wherein the AOA Bluetooth positioning base station A is used as a reference base station of the system, the AOA Bluetooth positioning base station B, C, D is a base station to be self-calibrated in the system, a positioning tag 2 moves according to a path 203, and in the moving process, the AOA Bluetooth positioning base station A, B, C, D obtains a pitch angle and an azimuth angle of a tag signal sent by the positioning tag reaching the base station in real time.
Specifically, as shown in fig. 3, the positioning tag 2 is moving along the route a 'D', and the positioning tag 2 is in the positioning broadcast packet transmission mode, and the positioning data packet is transmitted to the space at regular time. Firstly, at the initial moment, the positioning tag 2 is located at a point a' right below the AOA bluetooth positioning base station a, at this moment, the pitch angle measured by the AOA bluetooth positioning base station a is located near 90 degrees, and the azimuth angle is inaccurate. The AOA Bluetooth positioning base station B, C, D can measure a pitch angle and an azimuth angle respectively; then, the positioning tag 2 moves from the point a 'to the point D' according to the designed path, and the AOA bluetooth positioning base station A, B, C, D obtains the pitch angle and azimuth angle information in the moving process respectively, and records and stores the pitch angle and azimuth angle information.
Here, for AOA Bluetooth positioning base stations B and C, in the moving process of the positioning tag 2, the pitch angle values measured by the two base stations are gradually increased and then gradually decreased, the azimuth angle is gradually increased by 90 degrees, and when the positioning tag is located at 0 point, the pitch angle α of the AOA Bluetooth positioning base station B isBWhen the maximum value is reached, the azimuth angle obtained by the AOA Bluetooth positioning base station B at the position is recorded as thetaBThe azimuth angle obtained by the AOA Bluetooth positioning base station A is thetaAWhen the plane BOB ' is perpendicular to the straight line A ' D ', the included angle A ' 0B ' is a right angle thetaAAnd thetaBAnd (4) complementation. The azimuth deviation of the AOA Bluetooth positioning base station B relative to the AOA Bluetooth positioning base station A is thetaBA＝θB-θA+90. The azimuth angle of the AOA Bluetooth positioning base station B can be calibrated by the azimuth angle of the reference base station (namely the AOA Bluetooth positioning base station A); according to the same method, the azimuth angle of the AOA Bluetooth positioning base station C can be calibrated by the reference base station, and the same coordinate system of the reference base station can be obtained through compensation calibration; aiming at the condition that the moving path of the positioning tag 2 is positioned right below the AOA Bluetooth positioning base station, if the pitch angle of the base station to be detected is positioned near 90 degrees, the azimuth angle measured by the base station to be detected is inaccurate, and the moving path direction angle is the angle value which is required to be measured by the base station to be detected, so that the path angle value theta measured by the AOA Bluetooth positioning base station D can be usedDUsing the formula θDA＝θD-θA+180 to compensate for the azimuth offset of AOA bluetooth positioning base station D.
In this embodiment, in step S3, the step of determining, by the location server, the location coordinate of each AOA bluetooth positioning base station specifically includes the following steps:
s31: each AOA Bluetooth positioning base station measures the distance between the AOA Bluetooth positioning base station and other AOA Bluetooth positioning base stations based on a TOF algorithm;
s32: taking any one AOA Bluetooth positioning base station as a reference base station, establishing a plane coordinate system by using the reference base station and the AOA Bluetooth positioning base station closest to the reference base station, and determining the position coordinate of each AOA Bluetooth positioning base station on the plane coordinate system;
s33: and converting the position coordinates of each AOA Bluetooth positioning base station into an actual coordinate system.
In step S31, the step of each AOA bluetooth positioning base station measuring its distance from other AOA bluetooth positioning base stations based on TOF algorithm includes the following steps:
s311: setting each AOA Bluetooth positioning base station into a TOF ranging mode;
s312: each AOA Bluetooth positioning base station randomly serves as a master machine or a slave machine, and the AOA Bluetooth positioning base station serving as the master machine initiates a measurement data packet and measures the distance between the AOA Bluetooth positioning base station and each slave machine;
s313: after entering the next period, randomly entering a master machine or slave machine mode by each AOA Bluetooth positioning base station, initiating a measurement data packet by the AOA Bluetooth positioning base station serving as the master machine, and measuring the distance from the AOA Bluetooth positioning base station to each slave machine until the distance measurement between all AOA Bluetooth positioning base stations is completed;
s314: and sending the distance information between all the AOA Bluetooth positioning base stations to the position server.
Specifically, the following describes the location server 3 determining the location coordinates of each AOA bluetooth positioning base station 1 by using a specific embodiment, please refer to fig. 4, AOA bluetooth positioning base stations A, B, C measure the distance therebetween by using a TOF algorithm, and draw a range circle by using the distances between AOA bluetooth positioning base stations as the center of the circle and the radius, where the circles intersect at a point. The specific test flow is as follows:
a: setting the AOA Bluetooth positioning base station in a TOF ranging mode, wherein the positioning algorithm can adopt a TOF algorithm, and uploading the measured signal distance information to a position server by the AOA Bluetooth positioning base station A, B, C;
b: the AOA bluetooth positioning base station A, B, C is randomly in a master or slave mode, the AOA bluetooth positioning base station initiates a measurement data packet when being used as a master to measure the distance from the AOA bluetooth positioning base station to the slave, and in the next period, the AOA bluetooth positioning base station randomly enters the master or slave mode to measure the distance from the master to the slave until each AOA bluetooth positioning base station measures the distance from itself to each other AOA bluetooth positioning base station;
c: establishing a plane coordinate system x ' O ' y ' by using a reference base station (AOA Bluetooth positioning base station A) and an AOA Bluetooth positioning base station B closest to the AOA Bluetooth positioning base station A, establishing an equation set on the coordinate system to solve the coordinate value of the AOA Bluetooth positioning base station C, obtaining two points which are positioned in AB axial symmetry, and calculating the position of the next point by using the point above the AB axial as a reference.
d: and sequentially calculating the coordinate values of each point.
e: and (c) calculating the coordinate value of each point through a-d, wherein the coordinate value is based on the position value of a coordinate system x ' O ' y ', the coordinate is different from the actual coordinate, a uniform rotation offset exists, and an offset is added after all points are calculated to be converted into the coordinate system xOy.
f: and adjusting the position offset of the reference base station relative to the room coordinate system according to the actual conditions of the items, so that the self-calibration of the position coordinates of the base station is automatically completed.
The disclosure above is only one specific embodiment of the present application, but the present application is not limited thereto, and any variations that can be made by those skilled in the art are intended to fall within the scope of the present application.
Claims (8)
1. A self calibration method for an AOA Bluetooth positioning base station is characterized by comprising the following steps:
each AOA Bluetooth positioning base station measures a pitch angle and an azimuth angle of the AOA Bluetooth positioning base station relative to a positioning tag in real time and sends the pitch angle and the azimuth angle to a position server, wherein the AOA Bluetooth positioning base station comprises a reference AOA Bluetooth positioning base station and an AOA Bluetooth positioning base station to be measured;
the position server determines the azimuth angle of each AOA Bluetooth positioning base station to be detected based on the pitch angle and azimuth angle information sent by the AOA Bluetooth positioning base station;
the position server determines the position coordinates of each AOA Bluetooth positioning base station to be detected;
and each AOA Bluetooth positioning base station to be measured is adjusted based on the position coordinate and the azimuth angle.
2. The method of claim 1, wherein said each AOA bluetooth positioning base station measures its pitch and azimuth angles relative to the positioning tag in real time comprises the following steps:
enabling a positioning tag to move along a preset path, and enabling the positioning tag to send positioning data packets to all the AOA Bluetooth positioning base stations in real time;
and each AOA Bluetooth positioning base station measures and calculates the pitch angle and the azimuth angle of the AOA Bluetooth positioning base station relative to the positioning tag in real time based on the positioning data packet.
3. The method according to claim 2, wherein the positioning tag sends the positioning data packet to each of the AOA bluetooth positioning base stations in real time by using a connection communication or a broadcast communication.
4. The method according to claim 2, wherein the determining, by the location server, the azimuth angle of each AOA bluetooth positioning base station to be tested based on the pitch angle and azimuth angle information sent by the AOA bluetooth positioning base station specifically comprises:
if the projection of the AOA Bluetooth positioning base station to be detected is not in the preset path, when the pitch angle of the AOA Bluetooth positioning base station is maximum, the azimuth angle of the AOA Bluetooth positioning base station to be detected and the negative direction of the azimuth angle of the AOA Bluetooth positioning base station have a complementary relation;
and if the projection of the AOA Bluetooth positioning base station to be detected is on the preset path, and if the pitch angle of the AOA Bluetooth positioning base station to be detected is about 90 degrees, the azimuth angle of the AOA Bluetooth positioning base station to be detected is the direction angle of the preset path.
5. The method of claim 1, wherein the location server determining the location coordinates of each AOA Bluetooth positioning base station to be tested comprises the following steps:
each AOA Bluetooth positioning base station measures the distance between the AOA Bluetooth positioning base station and other AOA Bluetooth positioning base stations based on a TOF algorithm;
taking any one AOA Bluetooth positioning base station as a reference base station, establishing a plane coordinate system by using the reference base station and the AOA Bluetooth positioning base station closest to the reference base station, and determining the position coordinate of each AOA Bluetooth positioning base station on the plane coordinate system;
and converting the position coordinates of each AOA Bluetooth positioning base station into an actual coordinate system.
6. The method according to claim 5, wherein said each said AOA Bluetooth positioning base station measuring its distance from other AOA Bluetooth positioning base stations based on TOF algorithm comprises the following steps:
setting each AOA Bluetooth positioning base station into a TOF ranging mode;
each AOA Bluetooth positioning base station randomly serves as a master machine or a slave machine, and the AOA Bluetooth positioning base station serving as the master machine initiates a measurement data packet and measures the distance between the AOA Bluetooth positioning base station and each slave machine;
after entering the next period, randomly entering a master machine or slave machine mode by each AOA Bluetooth positioning base station, initiating a measurement data packet by the AOA Bluetooth positioning base station serving as the master machine, and measuring the distance from the AOA Bluetooth positioning base station to each slave machine until the distance measurement between all AOA Bluetooth positioning base stations is completed;
and sending the distance information between all the AOA Bluetooth positioning base stations to the position server.
7. An AOA Bluetooth positioning base station self-calibration system is characterized by comprising a plurality of AOA Bluetooth positioning base stations, one or a plurality of positioning tags and a position server, wherein,
each AOA Bluetooth positioning base station measures a pitch angle and an azimuth angle of the AOA Bluetooth positioning base station relative to a positioning tag in real time and sends the pitch angle and the azimuth angle to a position server, wherein the AOA Bluetooth positioning base station comprises a reference AOA Bluetooth positioning base station and an AOA Bluetooth positioning base station to be measured;
the position server determines the azimuth angle of each AOA Bluetooth positioning base station to be detected based on the pitch angle and the azimuth angle of each AOA Bluetooth positioning base station relative to the positioning label;
the position server determines the position coordinates of each AOA Bluetooth positioning base station to be detected;
and each AOA Bluetooth positioning base station to be measured is adjusted based on the position coordinate and the azimuth angle.
8. The system according to claim 7, wherein all said AOA Bluetooth positioning base stations are installed on the same horizontal plane.
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| CN112102645A (en) * | 2020-08-31 | 2020-12-18 | 南京创维信息技术研究院有限公司 | Indoor positioning vehicle-searching system and method based on Bluetooth AOA technology |
| CN112188455A (en) * | 2020-09-23 | 2021-01-05 | 深圳前海知行科技有限公司 | Positioning method, device, equipment and storage medium based on gateway |
| CN112957713A (en) * | 2021-02-05 | 2021-06-15 | 北京深蓝长盛科技有限公司 | Method and system for determining positions of players and ice hockey and holding power in ice hockey |
| CN113099530A (en) * | 2021-04-07 | 2021-07-09 | 中国人民解放军国防科技大学 | Magnetic-levitation train absolute position positioning system and method based on Bluetooth AOA positioning technology |
| CN113947939A (en) * | 2021-10-21 | 2022-01-18 | 斑马网络技术有限公司 | Vehicle searching method, device, equipment and storage medium |
| CN113949987A (en) * | 2021-09-08 | 2022-01-18 | 深圳市微能信息科技有限公司 | Positioning method, positioning device, base station and readable storage medium |
| CN116016293A (en) * | 2023-03-22 | 2023-04-25 | 深圳市亿联无限科技股份有限公司 | Multi-task queue testing method, system and platform for network communication product production |
| WO2023065110A1 (en) * | 2021-10-19 | 2023-04-27 | 深圳市优必选科技股份有限公司 | Method for calibrating base station, and computer device and storage medium |
| CN117812572A (en) * | 2024-01-08 | 2024-04-02 | 江苏蓝策电子科技有限公司 | AOA Bluetooth positioning self-calibration method and system |
| CN117812572B (en) * | 2024-01-08 | 2024-07-26 | 江苏蓝策电子科技有限公司 | AOA Bluetooth positioning self-calibration method and system |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN112102645A (en) * | 2020-08-31 | 2020-12-18 | 南京创维信息技术研究院有限公司 | Indoor positioning vehicle-searching system and method based on Bluetooth AOA technology |
| CN112188455A (en) * | 2020-09-23 | 2021-01-05 | 深圳前海知行科技有限公司 | Positioning method, device, equipment and storage medium based on gateway |
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